Robust and Recursively Feasible Real-Time Trajectory Planning in Unknown Environments
Inkyu Jang,Dongjae Lee,Seungjae Lee,H. Jin Kim,Inkyu Jang,Dongjae Lee,Seungjae Lee,H. Jin Kim
Motion planners for mobile robots in unknown environments face the challenge of simultaneously maintaining both robustness against unmodeled uncertainties and persistent feasibility of the trajectory-finding problem. That is, while dealing with uncertainties, a motion planner must update its trajectory, adapting to the newly revealed environment in real-time; failing to do so may involve unsafe ci...
